Advances in the Hierarchical Emergent Behaviors (HEB) approach to autonomous vehicles
Widespread deployment of autonomous vehicles (AVs) presents formidable challenges in terms on handling scalability and complexity, particularly regarding vehicular reaction in the face of unforeseen corner cases. Hierarchical Emergent Behaviors (HEB) is a scalable architecture based on the concepts...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/129134 |
| Acceso en línea: | https://hdl.handle.net/2117/129134 https://dx.doi.org/10.1109/MITS.2018.2879182 |
| Access Level: | acceso abierto |
| Palabra clave: | Internet of things Autonomous vehicles Hierarchical emergent behaviors HEB IoT Ultra large scale systems ULSS Internet de les coses Vehicles autònoms Àrees temàtiques de la UPC::Informàtica::Arquitectura de computadors |
| Sumario: | Widespread deployment of autonomous vehicles (AVs) presents formidable challenges in terms on handling scalability and complexity, particularly regarding vehicular reaction in the face of unforeseen corner cases. Hierarchical Emergent Behaviors (HEB) is a scalable architecture based on the concepts of emergent behaviors and hierarchical decomposition. It relies on a few simple but powerful rules to govern local vehicular interactions. Rather than requiring prescriptive programming of every possible scenario, HEB’s approach relies on global behaviors induced by the application of these local, well-understood rules. Our first two papers on HEB focused on a primal set of rules applied at the first hierarchical level. On the path to systematize a solid design methodology, this paper proposes additional rules for the second level, studies through simulations the resultant richer set of emergent behaviors, and discusses the communica-tion mechanisms between the different levels. |
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